public void HandleInput(RodAction action)
{
switch (action)
{
case RodAction.Cast:
OneShotManager.PlayOneShot(castOneShot);
animator.SetTrigger("CastStart");
break;
case RodAction.SmallBite:
animator.SetTrigger("SmallBite");
break;
case RodAction.BigBite:
bigBiteLoopSource.Play();
animator.SetTrigger("BigBite");
break;
case RodAction.Reel:
bigBiteLoopSource.Stop();
OneShotManager.PlayOneShot(reelOneShot);
animator.SetTrigger("ReelStart");
break;
case RodAction.Idle:
break;
}
}
/// <summary>
/// Choose player to respond on current rod and action to perform
/// </summary>
/// <param name="rod">Current rod</param>
/// <param name="bfc">Ball Future Coordinates</param>
/// <param name="respondingPlayer">Responding Player index (1 based) on current rod [out]</param>
/// <returns>Rod Action to be performed</returns>
protected RodAction DefineActionAndRespondingPlayer(IRod rod, BallCoordinates bfc, out int respondingPlayer)
{
if (rod == null)
{
throw new ArgumentException(String.Format(
"[{0}] Unable to define action and responding player while rod argument is NULL!",
MethodBase.GetCurrentMethod().Name));
}
if (bfc == null || !bfc.IsDefined)
{
throw new ArgumentException(String.Format(
"[{0}] Unable to define action and responding player while ball coordinates are NULL or UNDEFINED!",
MethodBase.GetCurrentMethod().Name));
}
RodAction action = null;
respondingPlayer = -1;
switch (_helper.IsBallInSector(bfc.X, rod.RodXCoordinate, rod.DynamicSector))
{
//Ball is in Current Rod Sector
case eXPositionSectorRelative.IN_SECTOR:
action = SubTree.Decide(rod, bfc);
respondingPlayer = SubTree.RespondingPlayer;
break;
/* OLD :
* //The Big Sub Tree
* action = EnterDecisionTreeBallInSector(rod, bfc, out respondingPlayer);
*/
//Ball is ahead of Current Rod Sector
case eXPositionSectorRelative.AHEAD_SECTOR:
//Ball Vector Direction is TO Current Rod and we have intersection point
if (_helper.IsBallVectorToRod(bfc.Vector) &&
rod.Intersection.IsDefined)
{
action = new RodAction(rod.RodType, eRotationalMove.DEFENCE, eLinearMove.VECTOR_BASED);
//Define responding player index
BallYPositionToPlayerYCoordinate(bfc.Y, rod);
respondingPlayer = this.RespondingPlayer;
}
else
{
//Ball Vector Direction is FROM Current Rod
action = new RodAction(rod.RodType, eRotationalMove.DEFENCE, eLinearMove.BEST_EFFORT);
}
break;
//Ball is behind Current Rod Sector
case eXPositionSectorRelative.BEHIND_SECTOR:
action = new RodAction(rod.RodType, eRotationalMove.RISE, eLinearMove.BEST_EFFORT);
break;
}
return(action);
}
/// <summary>
/// Main Decision Flow Method
/// </summary>
/// <param name="rod">Rod to use for decision</param>
/// <param name="bfc">Ball Future coordinates</param>
/// <returns>Rod Action to perform</returns>
public override RodAction Decide(IRod rod, BallCoordinates bfc)
{
//Player to respond (index base is 0)
int respondingPlayer = -1;
//Chose responding player on rod and define action to perform
RodAction action = DefineActionAndRespondingPlayer(rod, bfc, out respondingPlayer);
//Define actual desired rod coordinate to move to
int startStopperDesiredY = CalculateNewRodCoordinate(rod, respondingPlayer, bfc, action.Linear);
action.DcCoordinate = rod.NearestPossibleDcPosition(startStopperDesiredY);
//Set last decided rod and player coordinates
rod.State.DcPosition = action.DcCoordinate;
rod.State.ServoPosition = action.Rotation;
return(action);
}
/// <summary>
/// Decide on action to be taken for each rod
/// </summary>
/// <param name="currentCoordinates">Current ball coordinates and vector</param>
/// <returns>List of actions per each rod</returns>
public List <RodAction> Decide(BallCoordinates currentCoordinates)
{
if (!IsInitialized)
{
Initialize();
}
if (currentCoordinates == null)
{
throw new ArgumentException(String.Format("[{0}] Coordinates received from vector calculation unit are null",
MethodBase.GetCurrentMethod().Name));
}
//Convert pts and pts/sec to mm and mm/sec
currentCoordinates = _surveyor.PtsToMm(currentCoordinates);
//Calculate Actual Possible Action Time
DateTime timeOfAction = DateTime.Now + SystemDelays;
//Calculate ball future coordinates
BallCoordinates bfc = _predictor.FindBallFutureCoordinates(currentCoordinates, timeOfAction);
List <RodAction> actions = new List <RodAction>();
foreach (IRod rod in _controlledRods)
{
//Calculate dynamic sectors
rod.CalculateDynamicSector(currentCoordinates);
//Draw dynamic sector, better to use on one rod at a time because together is chaos on the screen
Marks.DrawSector(rod.RodType, rod.DynamicSector);
//Calculate intersection point
rod.CalculateSectorIntersection(bfc);
//Decide on action
RodAction action = _decisionTree.Decide(rod, bfc);
actions.Add(action);
//if (rod.RodType == eRod.GoalKeeper) Log.Common.Debug(action.Linear + ": " + action.DcCoordinate);
}
return(actions);
}
/// <summary>
/// Main Decision Flow Method desides on action and sets property of responding player
/// </summary>
/// <param name="rod">Rod to use for decision</param>
/// <param name="bfc">Ball Future coordinates</param>
/// <returns>Rod Action to perform</returns>
public override RodAction Decide(IRod rod, BallCoordinates bfc)
{
//Get relative Y position and set Responding Player
eYPositionPlayerRelative relativeY = BallYPositionToPlayerYCoordinate(bfc.Y, rod);
//Get relative X position
eXPositionRodRelative relativeX = BallXPositionToRodXPosition(bfc.X, rod);
RodAction action = new RodAction(rod.RodType);
/*
* For Alpha this is good enough to make a kick.
* For Beta need to define the actual sub tree.
*/
if (relativeX.Equals(eXPositionRodRelative.FRONT))
{
action = new RodAction(rod.RodType, eRotationalMove.KICK, eLinearMove.VECTOR_BASED);
}
if (relativeX.Equals(eXPositionRodRelative.BACK))
{
action = new RodAction(rod.RodType, eRotationalMove.RISE, eLinearMove.VECTOR_BASED);
}
if (relativeX.Equals(eXPositionRodRelative.CENTER))
{
action = new RodAction(rod.RodType, eRotationalMove.KICK, eLinearMove.BALL_Y);
}
//Define actual desired rod coordinate to move to
int startStopperDesiredY = CalculateNewRodCoordinate(rod, RespondingPlayer, bfc, action.Linear);
action.DcCoordinate = rod.NearestPossibleDcPosition(startStopperDesiredY);
//Set last decided rod and player coordinates
rod.State.DcPosition = action.DcCoordinate;
rod.State.ServoPosition = action.Rotation;
return(action);
}
public RodAction Decide(Rod rod, BallCoordinates bfc)
{
RodAction action = null;
//calculate sector start and end coordinates
sectorStart = rod.RodXCoordinate - rod.DynamicSector / 2;
sectorEnd = rod.RodXCoordinate + rod.DynamicSector / 2;
switch (IsBallInSector(bfc.X))
{
//Ball is in Current Rod Sector
case eBallRelativePos.IN_SECTOR:
//The Big Tree
break;
//Ball is ahead of Current Rod Sector
case eBallRelativePos.AHEAD_SECTOR:
if (IsBallVectorToRod(bfc.Vector))
{
//Ball Vector Direction is TO Current Rod
action = new RodAction(rod.RodType, eRotationalMove.DEFENCE, eLinearMove.VECTOR_BASED);
}
else
{
//Ball Vector Direction is FROM Current Rod
action = new RodAction(rod.RodType, eRotationalMove.DEFENCE, eLinearMove.BEST_EFFORT);
}
break;
//Ball is behind Current Rod Sector
case eBallRelativePos.BEHIND_SECTOR:
action = new RodAction(rod.RodType, eRotationalMove.RISE, eLinearMove.BEST_EFFORT);
break;
}
//Define actual desired rod location to move to
switch (action.Linear)
{
case eLinearMove.BALL_Y:
break;
case eLinearMove.BEST_EFFORT:
break;
case eLinearMove.LEFT_BALL_DIAMETER:
break;
case eLinearMove.RIGHT_BALL_DIAMETER:
break;
case eLinearMove.VECTOR_BASED:
break;
default:
break;
}
return(action);
}
